In the summer of 1404, he rode into what is today Monmouthshire at the head of a force. Warwick engaged Welsh forces at the Battle of Mynydd Cwmdu, near Tretower Castle a few miles northwest of Crickhowell – nearly capturing Owain Glyndwr himself, taking Owain's banner, forcing the Welsh to flee. They were chased down the valley of the River Usk where they regrouped and turned the tables on the pursuing English force, attempting an ambush. They chased the English in turn to the town walls of Monmouth after a skirmish at Craig-y-Dorth, a conical hill near Mitchel Troy.[4]

Warwick acquired quite a reputation for chivalry, and when in 1408 he went on pilgrimage to the Holy Land, he was challenged many times to fight in the sporting combat which was then popular. On the return trip he went through Russia and Eastern Europe, not returning to England until 1410.

Henry V's will gave Warwick the responsibility for the education of the infant Henry VI of England. This duty required him to travel back and forth between England and Normandy many times. In 1437, the Royal Council deemed his duty complete, and he was appointed lieutenant of France and Normandy. He remained in France for the remaining two years of his life.

Effigy of Richard de Beauchamp in the Beauchamp Chapel of St Mary's Church, Warwick. The finest piece of English 15th-century bronze sculpture, modelled and cast by William Austen of London, gilded and engraved by Bartholomew Lambespring, a Dutch goldsmith.[7]

^ abRichard Gough, Description of the Beauchamp chapel, adjoining to the church of St. Mary, at Warwick. And the monuments of the earls of Warwick, in the said church and elsewhere (Warwick Town, St Mary, 1803), p. 17